坦克炮控系统摩擦非线性与系统低速性能研究

Research on Friction Nonlinearity and Low Velocity Performance of Gun Control System of Tank

从摩擦力矩的Stribeck模型入手,分析了摩擦非线性对炮控系统低速性能的影响。结果表明,系统“爬行”现象主要是由摩擦力矩的正反馈特性造成的,且只出现在系统低速运行状态;当跟踪速度足够高时,输入信号在炮控系统的运行过程中起主导作用,可有效的抑制其正反馈效应,使得系统平稳运行。进一步,给出并证明了系统低速“爬行”的充要条件,求解了系统的最低平稳转速。最后仿真分析了各种摩擦非线性补偿控制策略的效果,为炮控系统分析和设计提供理论依据。

The influence of low velocity properties of gun control system caused by friction nonlinearity is analyzed based on the friction moment of the stribeck model. According to the result, the cause of system to be dithering is the positive feedback of friction moment only when system runs at low speed. If the follow-up speed is high enough, the input signal of gun control system will dominate and effective check the positive feedback and the system will be run on an even keel. What is more, the necessary and sufficient condition for system to be dithering is brought forward and proved, the minimum stability velocity is provided. Finally, the effect of various compensation control strategy is simulated and analyzed, and thus a theory gist is provided for the analysis and design of gun control system of tank.